Abstract: A magnetorheological (MR) actuator device comprising two or more MR actuator units. Each of the MR actuator units may include a motor, an MR fluid clutch apparatus operatively coupled to the motor to receive torque from the motor, the MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field. An output member is provided, a transmission operatively coupling the at least two MR actuator units to the output member, for the output member to receive torque from the MR actuator units. A controller for controlling the two or more MR actuator units to drive the output member, the controller driving the output member in at least an antagonistic mode in which the MR actuator units transmit torque in opposite directions to the output member. A collaborative mode may be provided to combined the torque of the two or more MR actuator units in a common direction on the output member.

Abstract: An actuator system for articulated mechanism may have a fluid actuator having a displaceable member operating an output configured to apply an output force to the articulated mechanism. A fluid system may be in fluid communication with the fluid actuator to supply the fluid actuator with motive fluid to contribute to the output force. The fluid system may include a pressure reservoir configured for storing fluid, a pumping device for controlling a pressure of the fluid in the reservoir, and a circuit for directing the fluid from the reservoir to the fluid actuator. An actuator device may be operatively connected to the fluid actuator to apply a variable force to the displaceable member to contribute to the output force.

Abstract: An actuator system has a power source, an output member, a first fluidic coupling and a second fluidic coupling. The fluidic couplings generate a variable amount of torque transmission. A transmission operatively couples the fluidic couplings to the power source and to the output member in at least first load path and a second load path, the first load path and the second load path being parallel to one another, the first load path including the first fluidic coupling, the second load path including the second fluidic coupling. The fluidic couplings are operable for torque from the power source to be transmitted solely via the first load path, solely via the second load path, and cumulatively via the first load path and the second load path.

Abstract: A system comprises one or more wearable devices including a first body interface adapted to be secured to a first bodily part. A second body interface is adapted to be secured to a second bodily part separated from the first bodily part by a physiological joint. One or more joints provide one or more degrees of freedom between the first body interface and the second body interface. A magnetorheological (MR) fluid actuator unit comprises one or more power sources. An MR fluid clutch apparatus receiving torque from the at least one power source, the at least one MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field. A transmission couples the MR fluid actuator unit to the wearable device for converting torque from the MR fluid actuator unit to relative movement of the body interfaces with respect to one another.

Abstract: A control system for controlling movements of an end effector connected to a clutch output of magnetorheological (MR) fluid clutch apparatuses. A clutch driver drives the MR fluid clutch apparatuses between a controlled slippage mode, in which slippage in the MR fluid clutch apparatuses varies, and a combined mode, in which slippage between clutch input and clutch output is maintained below a given threshold simultaneously for both of the MR fluid clutch apparatuses, the two clutch outputs resisting movement of the end effector in the same direction. A mode selector module receives signals representative of a movement parameter(s) of the end effector, to select and switch a mode based on the signals. A movement controller controls the clutch driver and the motor driver to displace the end effector based on the selected mode and on commanded movements of the end effector for the end effector to achieve the commanded movements.

Abstract: A system for assisting a user in moving a device relative to a structure comprises a magnetorheological (MR) fluid actuator unit including at least one torque source and at least one MR fluid clutch apparatus having an input coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of assistance force via an output thereof. An interface is configured for coupling the output of the at least one MR fluid clutch apparatus to the device or surrounding structure. At least one sensor provides information about a movement of the device.

Abstract: A rim-rotor assembly has an annular structure including a composite rim and a hub. Blades project from the hub, tips of the blades contacting the annular structure, the blades configured to be loaded in compression against the annular structure. A thermal barrier is in the annular structure, the thermal barrier defining at least part of a radially inward surface of the annular structure. The tips of the blades contact the thermal barrier, the thermal barrier being a thermal barrier coating.

Abstract: A magnetorheological (MR) actuator device comprising two or more MR actuator units. Each of the MR actuator units may include a motor, an MR fluid clutch apparatus operatively coupled to the motor to receive torque from the motor, the MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field. An output member is provided, a transmission operatively coupling the at least two MR actuator units to the output member, for the output member to receive torque from the MR actuator units. A controller for controlling the two or more MR actuator units to drive the output member, the controller driving the output member in at least an antagonistic mode in which the MR actuator units transmit torque in opposite directions to the output member. A collaborative mode may be provided to combined the torque of the two or more MR actuator units in a common direction on the output member.

Abstract: A rim-rotor assembly has an annular structure including a composite rim and a hub. Blades project from the hub, tips of the blades contacting the annular structure, the blades configured to be loaded in compression against the annular structure. A thermal barrier is in the annular structure, the thermal barrier defining at least part of a radially inward surface of the annular structure. The tips of the blades contact the thermal barrier, the thermal barrier being a thermal barrier coating.

Abstract: A magnetorheological fluid clutch apparatus comprises an input(s) having an input shear surface(s). An output(s) is rotatably mounted about the input for rotating about a common axis with the input, the output(s) having output shear surface(s), the input shear surface and the output shear surface separated annular space(s), with magnetorheological fluid, configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field. An electromagnet(s) delivers a magnetic field through the magnetorheological fluid, the electromagnet configured to vary the strength of the magnetic field, whereby actuation of the electromagnet results in torque transmission from the input to the output. A member(s) defining at least one of the shear surfaces is made of a low-permeability material.

Abstract: A tensioning set comprises an output member. A magnetorheological fluid clutch apparatus is configured to receive a degree of actuation (DOA) and connected to the output member, the magnetorheological fluid clutch apparatus being actuatable to selectively transmit the received DOA through the output member by controlled slippage. A tensioning member is connected to the output member so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action transmitted to an output when being pulled by the output member. The tensioning set, or a comparable compressing set, may be used in systems and robotic arms. A method for controlling movements of an output driven by the tensioning set or compressing set is also provided.

Abstract: A system for assisting a user in moving a device relative to a structure comprises a magnetorheological (MR) fluid actuator unit including at least one torque source and at least one MR fluid clutch apparatus having an input coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of assistance force via an output thereof. An interface is configured for coupling the output of the at least one MR fluid clutch apparatus to the device or surrounding structure. At least one sensor provides information about a movement of the device.

Abstract: A system for assisting a user in moving a device relative to a structure comprises a magnetorheological (MR) fluid actuator unit including at least one torque source and at least one MR fluid clutch apparatus having an input coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of assistance force via an output thereof. An interface is configured for coupling the output of the at least one MR fluid clutch apparatus to the device or surrounding structure. At least one sensor provides information about a movement of the device.

Abstract: The present invention generally relates to rotary turbomachinery methods and integrated processes requiring high-energy efficiency. In one embodiment, the present invention relates to rim-rotor configurations enabling long-term survival under conditions of either high temperature or oxidation resistance or saturated fluid abrasion.

Abstract: The invention relates to a device for positioning in the proximity of a joint between two portions, the device comprising a first interface (11) carried by a first of the two portions and a second interface (12) carried by a second of the two portions, the device including at least one connection between the first interface and the second interface, the connection comprising a double cylinder having two chambers that are connected together by a floating piston, the first of the two chambers being connected to the first interface and a second of the two chambers being connected to a drive rather of the double cylinder, said rod being connected to the second interface. The invention also relates to a system including such a device.

Abstract: An active suspension system comprises at least one biasing device configured to support a body from a structure, and at least one motor. A magnetorheological (MR) fluid clutch apparatus(es) is coupled to the at least one motor to receive torque from the motor, the MR fluid clutch apparatus controllable to transmit a variable amount of torque. A mechanism is between the at least one MR fluid clutch apparatus and the body to convert the torque received from the at least one MR fluid clutch apparatus into a force on the body. Sensor(s) provide information indicative of a state of the body or structure. A controller receives the information indicative of the state of the body or structure and for outputting a signal to control the at least one MR fluid clutch apparatus in exerting a desired force on the body to control movement of the body according to a desired movement behavior.

Abstract: A magnetorheological fluid clutch apparatus comprises an input(s) having an input shear surface(s). An output(s) is rotatably mounted about the input for rotating about a common axis with the input, the output(s) having output shear surface(s), the input shear surface and the output shear surface separated annular space(s). with magnetorheological fluid, configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field. An electromagnet(s) delivers a magnetic field through the magnetorheological fluid, the electromagnet configured to vary the strength of the magnetic field, whereby actuation of the electromagnet results in torque transmission from the input to the output. A member(s) defining at least one of the shear surfaces is made of a low-permeability material.

Abstract: A system comprises magnetorheological fluid clutch apparatuses, each magnetorheological fluid clutch apparatus including a first rotor having at least one first shear surface, a second rotor rotating about a common axis with the first rotor, the second rotor having at least one second shear surface opposite the at least one first shear surface, the shear surfaces separated by at least one annular space, magnetorheological (MR) fluid in an MR fluid chamber including the at least one annular space, the MR fluid configured to generate a variable amount of torque transmission between the rotors when subjected to a magnetic field, and coil(s) actuatable to deliver a magnetic field through the MR fluid such that each said magnetorheological fluid clutch apparatus is actuatable to selectively transmit actuation by controlled slippage of the rotors with respect to one another.

Abstract: A telepresence controller is provided for interaction with a remote telepresence session to control haptic interactions between an end effector and the remote telepresence session. Force sensor(s) monitor force(s) applied to an end effector. Position sensor(s) monitor a position of the end effector. The telepresence controller communicates with the remote telepresence session to exchange position data and force data indicative of concurrent haptic movements of the end effector and an object in the remote telepresence session. Magnetorheological fluid clutch apparatus(es) have an input adapted to be connected to a power source and configured to receive a degree of actuation (DOA) therefrom, the magnetorheological fluid clutch apparatus(es) having an output being actuatable to selectively transmit the received DOA to the end effector by controlled slippage.

Abstract: A control system for controlling movements of an end effector connected to a clutch output of at least two magnetorheological (MR) fluid clutch apparatus, the control system comprises a clutch driver configured to drive the at least two MR fluid clutch apparatuses between at least a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatuses varies, and a combined mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold simultaneously for both of the MR fluid clutch apparatuses, the two clutch outputs resisting movement of the end effector in the same direction. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to at least one clutch input.